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Smooth Time-Varying Formation Control of Multiple Nonholonomic Agents

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Proceedings of the 2015 Chinese Intelligent Systems Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE))

Abstract

In this paper, we investigate the position/orientation formation problem of multiple nonholonomic agents. Coordinate transformations are first presented to obtain the matrix form of formation error model, then a distributed smooth time-varying control law is designed based on a Lyapunov-like function. We prove that the closed-formation-system is globally asymptotically stable by Barbalat’s lemma if the communication graph is undirected, time-invariant and connected. Simulation results verify the effectiveness of the proposed control scheme.

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Author information

Authors and Affiliations

  1. The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China

    Chenghui Yang, Chen Lei & Baoli Ma

  2. Faculty of Computer and Information Science, Southwest University, 400715, Chongqing, China

    Wenjing Xie

Authors
  1. Chenghui Yang
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  2. Wenjing Xie
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  3. Chen Lei
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  4. Baoli Ma
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Corresponding author

Correspondence to Wenjing Xie .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. Tsinghua University, Beijing, China

    Hongbo Li

  4. University of Science & Technology Beijing, Beijing, China

    Weicun Zhang

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Yang, C., Xie, W., Lei, C., Ma, B. (2016). Smooth Time-Varying Formation Control of Multiple Nonholonomic Agents. In: Jia, Y., Du, J., Li, H., Zhang, W. (eds) Proceedings of the 2015 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48386-2_30

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  • DOI: https://doi.org/10.1007/978-3-662-48386-2_30

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-48384-8

  • Online ISBN: 978-3-662-48386-2

  • eBook Packages: EngineeringEngineering (R0)

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